Inevitably, in addition to salient point preservation, a proper point cloud simplification method is required to be executed in real-time. Although time complexity is beyond the scope of this study, we assessed the time required for simplifying 80 high-resolution meshes from the TOSCA dataset. Since FPS, Uniform and TCP baseline methods do not require any significant computations, we compare the proposed method with the popular QEM approach using a highly optimized version from the MeshLab framework [1]}. It is important to note that the code of the proposed method could be further optimized, using parallel programming. Fig. REF  shows that the required mean runtime of the proposed method decreases drastically across all experiments, as the desired simplification increases, requiring just a few seconds to simplify the input point clouds to 1% of their original size.
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